Affiliation:
1. University of Bath Centre for Power Transmission and Motion Control, Department of Mechanical Engineering Claverton Down, Bath BA2 7AY, UK
Abstract
An object-oriented approach to dynamic simulation and analysis of multidomain, multiphysics systems is developed. Lagrangian dynamics and a novel numerical differentiation technique are used by the simulation engine to develop automatically the equations of motion from energy expressions, which can incorporate multidomain, multiphysics components. The same modelling methodology is used for both forward and inverse dynamic analysis. Different methods are presented for the solution of inverse dynamic problems, depending on how the desired motion and the control inputs are defined. A graphical approach is developed to test for the structural invertibility of a system for a particular choice of control inputs. A multistage inversion technique is introduced for systems where structural non-invertibility is due to a mismatch of the equation orders. The techniques developed for system inversion are demonstrated by simulated examples.
Subject
Mechanical Engineering,Control and Systems Engineering
Cited by
4 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献